Rebase from 'upstream'

.github/helpers/check_urls.sh

@@ -2,14 +2,54 @@
 
 set -e
 
+IGNORE_FILES=""
+IGNORE_PATTERNS=""
+
+while getopts ":f:d:p:" opt; do
+    case "${opt}" in
+        f)
+            IGNORE_FILES="${OPTARG}";;
+        d)
+            IGNORE_DIRS="${OPTARG}";;
+        p)
+            IGNORE_PATTERNS="${OPTARG}";;
+        \?)
+            echo "Invalid option -$OPTARG"
+            exit;;
+    esac
+done
+
+read -r -a ignore_files <<<"$IGNORE_FILES"
+read -r -a ignore_dirs <<<"$IGNORE_DIRS"
+read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"
+
+IGNORE_FILES_ARG=""
+for item in "${ignore_files[@]}"; do
+  IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
+done
+IGNORE_DIRS_ARG=""
+for item in "${ignore_dirs[@]}"; do
+  IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
+done
+
 #Find URLs in code:
-urls=$(grep -oP "(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?" "$@")
+urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)
 
 fail_counter=0
 
 FAILED_LINKS=()
 for item in $urls; do
-#     echo $item  
+#     echo $item
+    skip=0
+    for pattern in "${ignore_patterns[@]}"; do
+      [[ "$item" =~ $pattern ]] && skip=1
+    done
+
+    if [[ $skip == 1 ]]; then
+      echo "SKIPPING $item"
+      continue
+    fi
+
     filename=$(echo "$item" | cut -d':' -f1)
     url=$(echo "$item" | cut -d':' -f2-)
     echo -n "Checking $url from file $filename"
@@ -24,4 +64,4 @@ done
 
 echo "Failed files:"
 printf '%s\n' "${FAILED_LINKS[@]}"
-exit $fail_counter
+exit $fail_counter

.github/workflows/ci.yml

@@ -7,6 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
     strategy:
+      fail-fast: false
       matrix:
         env:
           - DOCKER_RUN_OPTS: --network ursim_net
@@ -21,6 +22,12 @@ jobs:
             ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '5.9.4'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+          - DOCKER_RUN_OPTS: --network ursim_net
+            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
+            CTEST_OUTPUT_ON_FAILURE: 1
+            ROBOT_MODEL: 'ur20'
+            URSIM_VERSION: 'latest'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
 
     steps:
       - uses: actions/checkout@v1
@@ -92,16 +99,10 @@ jobs:
       - uses: actions/checkout@v2
       - name: Check URLs
         run: |
-          .github/helpers/check_urls.sh -rI \
-            --exclude-dir=.git \
-            --exclude-dir=build/ \
-            --exclude-dir=tests \
-            --exclude=package.xml \
-            --exclude-dir=CMakeModules \
-            --exclude=tcp_socket.cpp \
-            --exclude-dir=debian \
-            --exclude=dataflow.graphml \
-            --exclude=start_ursim.sh
+          .github/helpers/check_urls.sh \
+            -d ".git build CMakeModules debian" \
+            -f "package.xml architecture_coarse.svg dataflow.graphml start_ursim.sh" \
+            -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"
 
   rosdoc_lite_check:
     runs-on: ubuntu-latest

CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-11-25)
+------------------
+* Adapt RTDE output recipe based on robot response (`#221 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/221>`_)
+* CI: Fix flaky example runs (`#223 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/223>`_)
+* Giving force mode parameters as arguments when calling startForceMode (`#208 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/208>`_)
+* Add more arguments to start_ursim.sh (`#220 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/220>`_)
+* Tcp socket improvements (`#222 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/222>`_)
+* Added family photo to readme (`#219 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/219>`_)
+* Add missing algorithm include (`#214 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/214>`_)
+* Added missing RTDE data packages and fixed incorrect names (`#213 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/213>`_)
+* Contributors: Felix Exner, Remi Siffert, URJala
+
 1.4.0 (2024-09-10)
 ------------------
 * Ensure that the targets are reachable within the robots limits (`#184 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/184>`_)

README.md

@@ -4,6 +4,11 @@ A C++ library for accessing Universal Robots interfaces. With this library C++-b
 implemented in order to create external applications leveraging the versatility of Universal Robots
 robotic manipulators.
 
+<!-- markdownlint-disable MD033 -->
+<div align="center">
+  <img src="doc/resources/family_photo.png" alt="Universal Robot family" style="width: 90%;"/>
+ </div>
+
 ## Requirements
 
 * **Polyscope** (The software running on the robot controller) version **3.14.3** (for CB3-Series),

doc/architecture.rst

@@ -63,6 +63,11 @@ sure to
 * run it from the package's main folder, as for simplicity reasons it doesn't use any sophisticated
   method to locate the required files.
 
+.. note::
+   The ``URDriver`` class creates a ``RTDEClient`` during initialization using the provided
+   recipes and utilizing the robot model's maximum frequency. If you would like to use a different
+   frequency, please use the ``resetRTDEClient()`` method after the ``UrDriver`` object has been
+   created.
 
 RTDEWriter
 ^^^^^^^^^^

doc/conf.py

@@ -27,7 +27,7 @@
 # -- Project information -----------------------------------------------------
 
 project = "ur_client_library"
-copyright = "2022, Felix Exner"
+copyright = "2022, Universal Robots A/S"
 author = "Felix Exner"
 
 # The short X.Y version

examples/dashboard_example.cpp

@@ -36,6 +36,7 @@
 #include <iostream>
 #include <memory>
 #include <thread>
+#include <unistd.h>
 
 using namespace urcl;
 
@@ -96,6 +97,8 @@ int main(int argc, char* argv[])
     return 1;
   }
 
+  sleep(1);
+
   // Play loaded program
   if (!my_dashboard->commandPlay())
   {

examples/force_mode_example.cpp

@@ -55,11 +55,21 @@ const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 std::unique_ptr<UrDriver> g_my_driver;
 std::unique_ptr<DashboardClient> g_my_dashboard;
 
+std::condition_variable g_program_running_cv_;
+std::mutex g_program_running_mutex_;
+bool g_program_running;
+
 // We need a callback function to register. See UrDriver's parameters for details.
 void handleRobotProgramState(bool program_running)
 {
   // Print the text in green so we see it better
   std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
+  if (program_running)
+  {
+    std::lock_guard<std::mutex> lk(g_program_running_mutex_);
+    g_program_running = program_running;
+    g_program_running_cv_.notify_one();
+  }
 }
 
 void sendFreedriveMessageOrDie(const control::FreedriveControlMessage freedrive_action)
@@ -72,6 +82,17 @@ void sendFreedriveMessageOrDie(const control::FreedriveControlMessage freedrive_
   }
 }
 
+bool waitForProgramRunning(int milliseconds = 100)
+{
+  std::unique_lock<std::mutex> lk(g_program_running_mutex_);
+  if (g_program_running_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
+      g_program_running == true)
+  {
+    return true;
+  }
+  return false;
+}
+
 int main(int argc, char* argv[])
 {
   urcl::setLogLevel(urcl::LogLevel::INFO);
@@ -130,7 +151,16 @@ int main(int argc, char* argv[])
   std::unique_ptr<ToolCommSetup> tool_comm_setup;
   const bool HEADLESS = true;
   g_my_driver.reset(new UrDriver(robot_ip, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE, &handleRobotProgramState, HEADLESS,
-                                 std::move(tool_comm_setup), CALIBRATION_CHECKSUM));
+                                 std::move(tool_comm_setup)));
+
+  if (!g_my_driver->checkCalibration(CALIBRATION_CHECKSUM))
+  {
+    URCL_LOG_ERROR("Calibration checksum does not match actual robot.");
+    URCL_LOG_ERROR("Use the ur_calibration tool to extract the correct calibration from the robot and pass that into "
+                   "the description. See "
+                   "[https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] "
+                   "for details.");
+  }
 
   // Once RTDE communication is started, we have to make sure to read from the interface buffer, as
   // otherwise we will get pipeline overflows. Therefore, do this directly before starting your main
@@ -141,15 +171,37 @@ int main(int argc, char* argv[])
   std::chrono::duration<double> timeout(second_to_run);
   auto stopwatch_last = std::chrono::steady_clock::now();
   auto stopwatch_now = stopwatch_last;
-  g_my_driver->writeKeepalive();
+  // Make sure that external control script is running
+  if (!waitForProgramRunning())
+  {
+    URCL_LOG_ERROR("External Control script not running.");
+    return 1;
+  }
   // Task frame at the robot's base with limits being large enough to cover the whole workspace
   // Compliance in z axis and rotation around z axis
-  g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },                 // Task frame at the robot's base
-                              { 0, 0, 1, 0, 0, 1 },                 // Compliance in z axis and rotation around z axis
-                              { 0, 0, 0, 0, 0, 0 },                 // do not apply any active wrench
-                              2,                                    // do not transform the force frame at all
-                              { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 });  // limits. See ScriptManual for
-                                                                    // details.
+  bool success;
+  if (g_my_driver->getVersion().major < 5)
+    success = g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },  // Task frame at the robot's base
+                                          { 0, 0, 1, 0, 0, 1 },  // Compliance in z axis and rotation around z axis
+                                          { 0, 0, 0, 0, 0, 0 },  // do not apply any active wrench
+                                          2,                     // do not transform the force frame at all
+                                          { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 },  // limits
+                                          0.025);  // damping_factor. See ScriptManual for details.
+  else
+  {
+    success = g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },  // Task frame at the robot's base
+                                          { 0, 0, 1, 0, 0, 1 },  // Compliance in z axis and rotation around z axis
+                                          { 0, 0, 0, 0, 0, 0 },  // do not apply any active wrench
+                                          2,                     // do not transform the force frame at all
+                                          { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 },  // limits
+                                          0.025,                               // damping_factor
+                                          0.8);  // gain_scaling. See ScriptManual for details.
+  }
+  if (!success)
+  {
+    URCL_LOG_ERROR("Failed to start force mode.");
+    return 1;
+  }
 
   while (true)
   {

include/ur_client_library/comm/pipeline.h

@@ -43,6 +43,8 @@ template <typename T>
 class IConsumer
 {
 public:
+  virtual ~IConsumer() = default;
+
   /*!
    * \brief Set-up functionality of the consumer.
    */
@@ -170,6 +172,8 @@ template <typename T>
 class IProducer
 {
 public:
+  virtual ~IProducer() = default;
+
   /*!
    * \brief Set-up functionality of the producers.
    *

include/ur_client_library/control/script_command_interface.h

@@ -105,14 +105,23 @@ class ScriptCommandInterface : public ReverseInterface
    *  2: The force frame is not transformed.
    *  3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector
    *  onto the x-y plane of the force frame
-   * \param limits (Float) 6d vector. For compliant axes, these values are the maximum allowed tcp speed along/about the
+   * \param limits 6d vector. For compliant axes, these values are the maximum allowed tcp speed along/about the
    * axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual
    * tcp position and the one set by the program
    *
+   * \param damping_factor Sets the damping parameter in force mode. In range [0,1], default value is 0.025
+   * A value of 1 is full damping, so the robot will decelerate quickly if no force is present. A value of 0
+   * is no damping, here the robot will maintain the speed.
+   *
+   * \param gain_scaling_factor Scales the gain in force mode. scaling parameter is in range [0,2], default
+   * is 0.5. A value larger than 1 can make force mode unstable, e.g. in case of collisions or pushing against hard
+   * surfaces.
+   *
    * \returns True, if the write was performed successfully, false otherwise.
    */
   bool startForceMode(const vector6d_t* task_frame, const vector6uint32_t* selection_vector, const vector6d_t* wrench,
-                      const unsigned int type, const vector6d_t* limits);
+                      const unsigned int type, const vector6d_t* limits, double damping_factor,
+                      double gain_scaling_factor);
 
   /*!
    * \brief Stop force mode and put the robot into normal operation mode.
@@ -178,7 +187,7 @@ class ScriptCommandInterface : public ReverseInterface
   };
 
   bool client_connected_;
-  static const int MAX_MESSAGE_LENGTH = 26;
+  static const int MAX_MESSAGE_LENGTH = 28;
 
   std::function<void(ToolContactResult)> handle_tool_contact_result_;
 };